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animation_movebone/README.md

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+The left lnx is controlled by Inverse Kinematics with a finger following a ball movement.  
+Use `W` `S` `A` and `D` keys to move the ball.  
+The right lnx is controlled by Forward Kinematics with a Haxe script.  

animation_movebone/Sources/lnx/MoveBoneFK.hx

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+package lnx;
+
+import iron.math.Vec4;
+import iron.math.Quat;
+import iron.object.BoneAnimation;
+import iron.math.Mat4;
+
+// Moving a bone - forward kinematics
+class MoveBoneFK extends iron.Trait {
+
+	public function new() {
+		super();
+
+		notifyOnInit(function() {
+			// Fetch armature animation
+			var anim = cast(object.children[0].animation, BoneAnimation);
+			// Fetch bone
+			var bone = anim.getBone("mixamorig:RightLnx");
+			
+			// Manipulating bone in local space
+			//var m = anim.getBoneMat(bone);
+			// anim.notifyOnUpdate(function() {
+			//	var offset = new Quat().fromEuler(0, Math.sin(iron.system.Time.time()), 0);
+			//	m.applyQuat(offset);
+			//});
+
+			// Manipulating bone in world space	
+			anim.notifyOnUpdate(function() {
+				// Get bone mat in world space
+				var m = anim.getAbsWorldMat(bone);
+				// Decompose transform
+				var loc = new Vec4();
+				var scl = new Vec4();
+				var rot = new Quat();
+				m.decompose(loc, rot, scl);
+				// Apply rotation
+				var offset = new Quat().fromEuler(Math.sin(iron.system.Time.time()), 0, 0);
+				rot.multquats(offset, rot);
+				// Compose world matrix
+				m.compose(loc, rot, scl);
+				// Set bone matrix from world matrix
+				anim.setBoneMatFromWorldMat(m, bone);
+			});
+		});
+	}
+}

animation_movebone/Sources/lnx/MoveBoneIK.hx

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+package lnx;
+
+import iron.object.BoneAnimation;
+
+// Moving a bone - inverse kinematics
+class MoveBoneIK extends iron.Trait {
+
+	public function new() {
+		super();
+
+		iron.Scene.active.notifyOnInit(function() {
+
+			// Fetch armature animation
+			var anim = cast(object.children[0].animation, BoneAnimation);
+			// Fetch bone
+			var bone = anim.getBone("mixamorig:LeftHandIndex4");
+			// Fetch goal
+			var tr = iron.Scene.active.getChild("Goal").transform;
+			var goal = new iron.math.Vec4();
+
+			anim.notifyOnUpdate(function() {
+				goal.set(tr.worldx(), tr.worldy(), tr.worldz());
+				// Align skeleton to touch the goal
+				anim.solveIK(bone, goal);
+			});
+		});
+	}
+}